diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
index deed74c9ada113f05d10286a370b703d6a712642..8b738d098d56b40796fc427f6d69dd744beab9cc 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
@@ -24,4 +24,15 @@ namespace armarx::aron
         dto = bo.matrix();
     }
 
+    void fromAron(const AronPose& dto, Eigen::Isometry3d& bo)
+    {
+        bo.matrix() = dto.cast<double>();
+    }
+
+    void toAron(AronPose& dto, const Eigen::Isometry3d& bo)
+    {
+        dto = bo.matrix().cast<float>();
+    }
+
+
 }  // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
index 3520b2dedd7c10f2d358cb7997269871979b52ed..3ace8f400192823bd7c59cce605ef50e77dfdbff 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
@@ -12,4 +12,7 @@ namespace armarx::aron
     void fromAron(const AronPose& dto, Eigen::Isometry3f& bo);
     void toAron(AronPose& dto, const Eigen::Isometry3f& bo);
 
+    void fromAron(const AronPose& dto, Eigen::Isometry3d& bo);
+    void toAron(AronPose& dto, const Eigen::Isometry3d& bo);
+
 }  // namespace armarx